ABSTRACT

This book forms the Proceedings of the Second Symposium on Fluid Power organised by the Japan Hydraulics and Pneumatics Society and held in Tokyo in September 1993. It follows the very succesful First Symposium held in 1989 and presents the latest information on research and industrial activity currently underway in the field of fluid power.

part |2 pages

PART TWO TECHNICAL REPORTS FROM JAPAN

chapter 4|6 pages

Automatic systems and sensor technology

construction equipment

chapter 5|4 pages

Computer-assisted guiding system of multi-jointed

pile driver arm

chapter 6|1 pages

Development of electric-hydraulic control system for

large-sized mining shovel

chapter 3|5 pages

of electronic

chapter 7|10 pages

Future pneumatics

chapter |5 pages

output! Vre}h

chapter |7 pages

P r Ps

part |2 pages

PART

chapter 11|6 pages

Research Committee Report: Tribology of hydraulic and research needs for the future

equipment Research Committee on Tribology, Mitsuei IKEYA, Akira OHASHI, and Toshiharu KAZAMA

chapter |4 pages

ACKNOWLEDGEMENTS

chapter |2 pages

CONCLUSIONS

chapter 13|1 pages

Development of a direct drive servo valve using a

giant magnetostrictive material Hiratsuka , Kanagawa 254 used fields, e.g. aeroplanes, test machines, etc. this type of servovalve needs first stage causes leakage, and the user should take care to keep contamination levels low. For these reasons, the need for direct drive servovalves is increasing. does not first stage

chapter |1 pages

strain induced by a striction level exceeds

magnetic field under a magnetic field of c. 0.03T. (2) high output force the current (3) high response creased, the strength of the (4) high resistance to environ- magnetic field increases and the mental factors strains. This

chapter |1 pages

given actuator size is clear, and CONSTRUCTION CONSIDERATIONS

possible to design high performance and compact actuator. Avoiding Bending Moments simulation conditions as follows: has very high compressive strength, but its tensile strength axisymmetric Additionally, the magneto-

chapter |1 pages

This system achieves cancellation material

using a tube of a has a thermal expansion This actuator uses the tube, and influence the magnetic this system, thermal expansion input, magnetostriction is over strain). there is hysteresis linearity is detected

chapter |2 pages

seen that the linearity is under material

the following This data in results were obtained: parison with that of the nozzle- performance exceeds that flapper type servovalve (under of the nozzle-flapper type indication of servovalve. flow saturation. (2) The actuator designed subject Data bending loads. thermal expansion cancel- Figure 7 shows the step response lation system designed for frequency response of the the actuator. step response feedback control,

chapter |4 pages

Subsystem A c':.:.,___

'-I /

chapter 0|1 pages

2..------------------,

chapter 15|1 pages

Research Committee Report: Pneumatics

chapter |1 pages

that time were not good enough. friction of rubber packing dependent on

electrical sensors, and the test rig, vali- theoretical analysis with the coil type speed sensor. effective areas of the orifice (ori-

chapter |1 pages

theoretical results with the experimental

is the movable mass, Sl and effective area of and

chapter |1 pages

fore, the big test stand large

air that is neces- is in effective area trol of the actuator. the other hand, is complicate that the

chapter |1 pages

this study, a method to calculate

is the cross sectional area of ratio in the case of the nylon tube. In

chapter |3 pages

circuit is a fundamental

cuit. Research Committee deals with this situations of circuits. is solved. In the air is mixed artificially

chapter |1 pages

Elastic Characteristics of Pneu•atic

is of rubber and there is elasticity between piston and cylinder. slip. stretch of if the position

chapter |1 pages

Elastic seal

Ligid

chapter 16|1 pages

Research Committee Report: New application

pneumatics - head note and project summaries

chapter |1 pages

assistive ventilator using negative impedance

detail to design the controller keeps the ratio

chapter |1 pages

of the stability for the

·::::co stability of the system is anallzed results results agreed

chapter |2 pages

Intelligent Above-Knee Prosthesis

fast to slow walking, so the walking

chapter |1 pages

for Development of Automatic Paper

chapter |3 pages

operator feeds the next ream again. fluorine resin was coated on the surface of the fork to decrease the

friction factor to prevent the that, the fitted on the fork at the air to side of

chapter |2 pages

for will focus on the following areas:

of a flexible gripper. Its is this It that falls inside the is in parallel am execution collision prediction and

chapter |2 pages

air during compression by an

chapter |5 pages

of up to 6 m may be

part |2 pages

PART

chapter |1 pages

unsatble

----- b--------- ----- -------

chapter |1 pages

(s) = Kd = 1.19x10 [NI

chapter 19|6 pages

The of multiple independent gains for a

repetitive low frequency duty cycle in a hydraulic system

chapter 20|2 pages

Design of dead beat controller for electrohydraulic

speed servo system

chapter |4 pages

first-

3, let "' I. 28,

chapter 21|6 pages

Modeling, analysis and simulation of an

electrohydraulic flight control actuation system including friction

chapter |1 pages

= ---

chapter 28|5 pages

Design and parametric performance of a rotating

helical coil pump

chapter |1 pages

d/D • 0.025 e • o

chapter 29|6 pages

Optimum design and dynamic simulation of the

friction pairs between the eccentric crankshaft and the connecting rod in crankshaft piston motors

chapter 30|1 pages

Development of translational/torsional control active

mass damper system

chapter |5 pages

story building whose total mass is 3280

chapter 32|1 pages

On hydro-mechanical hybrid transmission

first Hydru-Mechanical Hybrid Transmission(HMHT) hydraulic and motor, has thoretical possible limit. remarkable power operating transmission with various control functions and extremely high power the forward operation should greater availability or progressing in like variable motor in efficiency rotating speed cylinder closely related to compressibility of rotating parts

chapter |1 pages

maintains constant speed as the Plate type)

rotates engineer Renault in 1907, axial piston its efficiency. integrated transmission in increase decrease output speed including reverse revolution, power is transmitted the combination of mechanical-

chapter |1 pages

in 1988 and several tests

carried out to verify specification of the proto type unit: slipper pads of pistons in the cylinder block of shaft. ring valve is driven the relative angle the input shaft

chapter |2 pages

less efficiency in reverse range

complexity of call type, not transmitting route. this that characteristics starting other rotating machines, piston velocity of only as 70 to of contrary, internal static friction force, piston speed starting torque. Piston pump/motor is of rotary Friction force cylinders and

chapter |1 pages

'"""'_.

chapter 33|1 pages

Hydraulic servocylinder position control using a fuzzy logic controller

MING-CHANG SHIH, SHU-MING LIAW Department of Mechanical Engineering National Chen-Kung University Tainan, Taiwan, 70107, R.O.C.

chapter |1 pages

cylinder is measured by a linear pulse

is controlled by servovalve ( model number SVD-F11- 7.5-11, Yuken Co., japan ). The load pressure is controlled by a proportional pressure-relief valve. An IBM compati- ble personal computer PC/XT with a 12 thod [6]: ifxis and xis is then ---------------------·-----

chapter |1 pages

Determine the control rules The fuzzy control rules are decided as

follows: if e is , then u P · e if e is PM , then P · e if e is zo+ and Ve is

chapter |1 pages

sen as 100 bar and 10 ms, respectively.

(x), WITHOUT EXTERNAL i=l ,2, ..... 10, and n is the number of variables, and xare the two state variables error e and velocity V the study. process of the fuzzy controller, the scaling factors GE and GCE are equal to 3. Defuzzify the control signal 0.5 and 0.2 , and the parameters p , Through the defuzzyfication process, are equal to 5, -0.2 and 0.2, the control signal u to the servocylin- respectively.

chapter |2 pages

Different Command Input

The application of the fuzzy control reach the command position, the control technique on the hydraulic servocyli- signal is also longer at the saturated ndrer position control is easy to get a level. Besides, owing to the characteristic very satisfactory performance, including of the load pressure relief valve, the the fast response, no overshoot load pressure oscillates till the cylinder small steady state errors.

chapter 34|6 pages

Application of digital electro-hydraulic control

system

chapter |4 pages

* Four 16-Bit Software Timer

chapter 36|2 pages

Knowledge-based techniques for fault diagnosis

electrohydraulic drive systems

chapter 37|1 pages

An application of a neural network to adaptive of a servo system

control Institute of Technology rate

chapter |1 pages

deals with an application of Specification of the system

inertia 8.2x10-

chapter |1 pages

Simplified Neural Network first

oil compressibility and <k ) < + + <k ) k) + w k) w ( k -1) + w k) -1) is referred Wt(k+l)=Wt(k)+e owv(k+l) first order

chapter |1 pages

first cycle, effect shown 1n the bottom of

3 shows an example results of first results of

chapter |2 pages

ordering. The sequential ordering controller. With

(l), eq. + k) w k) (7)

chapter |4 pages

+ c.,/2

chapter 39|3 pages

Adaptive control of Mimo electrohydraulic

servosystem

chapter 40|6 pages

Digital control of an HST system with load cylinder

operated differential pulse width modulation

chapter |3 pages

[H(z-)y,.(k)

(k) e

chapter |2 pages

Appendix

chapter |4 pages

of the transmission line itself

chapter 44|1 pages

Factors affecting accurate measurement of fluid of fluid power pumps

borne noise characteristics

chapter |1 pages

= oil effective bulk modulus

chapter |1 pages

of the first

tion of the zero and first-order Bessel differential ratio can be finit series forms of Bessel functions[?], at several different harmonics of fluid power lot of ,-----·----.,

chapter |1 pages

significant harmonic is to the

is the interesting is to is found that both the first- >--------

chapter |1 pages

P2/ I p2i I ex-p(j'P2i) =

If strain pressure sensors in the i=l, 2, •...•• results is desired that is, to similarity of the sensing to a blocked pipeline, the is the transfer function result

chapter |1 pages

are modified to represent the real values pressure results taken from

this modification includes both hard- fluid in the effect to change the configuration of the sensing of the locations of in hydraulic fluid British

chapter 45|2 pages

A CAD expert system for axial piston pumps

chapter |1 pages

calculate the cylinder pressure and

the operating moment is developed. at bottom center to be analized

chapter |1 pages

the swash plate. The swash plate angle and Asl are functions

= sec effects of the rotational tan a) =R(wtanasinElrasec tan -w tan l)ln

chapter |3 pages

the swash plate angle supporting system. of the

of the new prediction method, the pump is tested. Temperature of the characteristics of of the swash strain gauge

chapter 48|5 pages

Delta-operator-based adaptive control of a piston

pump

chapter 49|1 pages

Numerical and experimental flow visualization

unsteady flow in a spool valve of Mechanical Engineering, of Technology,

chapter |1 pages

hydraulic and pneumatic power shear layers from the edges of the orifice of the interest in the of lines flow in the valve chamber, many

of sources is N and investigations by experimental and of elemental vortices shed isM. been only a little amount of

chapter |2 pages

absolute value of average velocity of the second cycle. The periodic variations of the jet flow development

of the of the process of of valve opening for Vs=85mm/s. In the of the first cycle shown m Fig. 4(a). of the second cycle during L= I.

chapter 51|2 pages

A study of a position servo system composed of high

speed on-off valves

chapter |1 pages

STATIC CHARACTERISTICS OF

FREQUENCY RESPONSE OF THE tc + >> fc

chapter |2 pages

that can maintain the 45 phase margin is

influence on the frequency response Tc/ A, assuming thatevKKqKf't is not

chapter |3 pages

Av/Ac parameter the Av/Ac=0.25 FIGURE

chapter 53|1 pages

A study on characteristics of flow control and

pressure control of a PWM controlled logic valve Institute of Technology

chapter |1 pages

suitable for a real circuit of with a logic valve in var1ous ways. rate. A logic static characteristics

is not easy to control flow rate or pilot valve which L.--i

chapter |1 pages

logic valve opens and closes logic valve is shown. Pressure

relief ratio of a signal. orifice pilot orifice of in diameter ratio because of (f), It that

chapter |1 pages

to one

chapter |1 pages

after the motor used to obtain pulsating

ratio pilot solenoid valve pilot port

chapter |1 pages

Static Characteristics

ratio of a circuit through a is operated by a signal. ratio of less than 0.5,

chapter 54|1 pages

Research on improving dynamic characteristics

counter balance valve Institute People's Republic of China lifting, stretching

chapter |1 pages

characteristics. this paper

set for balance circuit consisting of pilot operated counter balance valve. Then. digital simulation in time and frequency domains valve control piston, descending) are parallel. respectively; in the pilot operated viscous valve, they are embedded for coefficients of spool, configuration. pilot pitching piston, typical p1·oducts are as type respectively; valve opening; leakage coefficient of pipes; spring rigidity; section area gradient of throttling spool; WA.s=qz forces acting spool and pilot,

chapter |1 pages

of main spool; pilot, l tota o contro ]-Kc

piston 1/3 spring; equivalent of load. implifications are -X(S)] variation of load inertia inertial force with pitching angle varying are ignored because pitch velocity is usually =--------------------------------

chapter |1 pages

piston; etc.

This paper puts the emphasis on influences of the flow section area gain the spring +By)- characteristics. the expression of the system open- gain seen that the main valve flow coefficient Kry=-- ;Tz=- directly proportional the flow area gain W stability. It

chapter |1 pages

Ioscillation '"'')

constant

chapter 56|2 pages

Review and progress on flow force of a poppet valve

an, Shaanxi Province, CillNA

chapter |1 pages

in Fig. 3. When

chapter |3 pages

In the former research , some flow pa-in downstream (Al A6)

valve is done, this remarkable

chapter 57|1 pages

Development of a fluidic pump driven by single

bistable element

chapter |1 pages

our study, the

{P,.+0.5·p·V,.

chapter |1 pages

substituting and to eqn(5.4),

chapter 58|1 pages

Development of rotary servo valve

chapter |1 pages

nected to the coil. The coil is put in

directly perated lves. electri- differ-

chapter |1 pages

either of the flow paths. The rotor

chapter |1 pages

Therefore, flow rate Q is determined in the cylindrical hole and the outer diam-proportion to the angular displacement eter of the sleeves. clearence

electrical feedback of the this valve serves as an electro- if the metering

chapter 0|1 pages

5(£/s)/V, and the linearity of the viscosity of the fluid that surrounds

rolls. stand of the rolling mill

chapter |1 pages

has two channels of hydraulic control

test unit lic roll positioning system to compare

chapter 61|1 pages

Investigation of butterfly check valve with optimum

closing performance

chapter |4 pages

=mass

+ VV +

chapter |1 pages

of experiments on industri-of

chapter 62|1 pages

On the frequency response characteristics of PWM

high-speed on-off valves

chapter |1 pages

of the

chapter |4 pages

For the Fourier series

chapter 63|6 pages

On possibility of suppressing self-excited of relief and check valves by actions on

oscillations pipeline performance

chapter |1 pages

ratio (=As/

pilot controls flow rates of 1/min

chapter |1 pages

is controlled signals is able to measure flow rates

difference of the

chapter |2 pages

theoretical relations. The spool works are given by a four ports valve

resolution in the low flow rates range is not good because of without the transient instability. Figure 6 transient characteristics of the

chapter |1 pages

see the insensitivity of the

I/ r

chapter 65|1 pages

Simulation study of load sensing dynamics on

hydraulic excavator

chapter |1 pages

actuator's

is achieved. fig.3. inclination an- is a system which controls de- is determined the se- rate according to lection of and Bt, where is in- trol which is a function of load sens- instabil- is a dead band of ity, because fundamental nature of dif- this value ferential pressure constant control is determined compromise of stabil- ity and exactness of control.

chapter |2 pages

variable pressure compensator. this program, interference of each

is attached to control in this program. The other parts are same Stability of load sensing system line volume· reduction (b) treats stability. is, piping design is desirable it control is fundamentally an ele- rate

chapter |1 pages

contrary, fig.(b) is the case static characteristics

at control, relief pressure level

chapter |1 pages

fig. 10. comparison of simulation re-

sults between conventional and is shown. This simulation sup- light load port are throttle their openings, is ramp, 3 second from zero to half rate, Pc: cylinder pressure). That teristic for self sys- differential pressure by the action of at large rate

chapter 66|2 pages

Power steering pump energy savings

chapter |1 pages

driving torque of the investigated

chapter |2 pages

tuating pressure f the itching ac

is about 0. in non-steering test test

chapter |1 pages

line

rate of is slight theoretical torque is is believed that steering affects

chapter 67|2 pages

Walking control system of drilling platform,

extra-shallow sea walking type 'Shenli 2'

chapter |1 pages

lift fall of the inner body and the From the transfer function, it is

clear that the operation of lifting the is the operation of state equations of x=Ax+Bu

chapter |1 pages

that

in Fig.3. The optimum of the amplifier

chapter |2 pages

to 3.5, considering the requirement of the Walking under Water static

relative in the step is inclination of that error of the trial of the cylinder the outer is less the at the error of the four cylinders first the inner the is less It is to say that the performance of the

chapter |1 pages

= pressure set up at the exit of check

chapter |4 pages

vessel

chapter 69|6 pages

Analysis of surge pressure generated by fluid of

column separation in pressure control system vehicle

chapter 70|8 pages

Analysis of an electro-hydraulic position control

servo-system using transmission-line modelling (TLM)

chapter 71|4 pages

Optimum design of bearing/seal parts for hydraulic

equipment on mixed lubrication Toshiharu KAZAMA and Atsushi YAMAGUCHI

chapter |2 pages

.---.----..--.--r--.-----, 510-

chapter 72|4 pages

Silting of capillary flow passage due to solid

particles Tae Young HWANG and Atsushi YAMAGUCHI

chapter |2 pages

d·;v ratio below

chapter 74|5 pages

Piecewise-linear modeling of hydraulic system for

state-feedback control strategy

chapter |1 pages

aP c

chapter 75|1 pages

Simulation analysis of pressure fluctuation for of cooling fan

hydrostatic driving system

chapter |3 pages

= Tip angle of poppet (rad)

chapter |2 pages

Inertia moment: 7 and 8 show

chapter 76|1 pages

Unity between steady and transitional state simulation for hydraulic systems

Institute for Fluid Transmission Control state rate state rate state value initial state value

chapter |1 pages

is to

lLn--

chapter |1 pages

(lJ)

state values of this

chapter |1 pages

tics

chapter |1 pages

is discussed the after the excitinwith

etc., the backstroke should state variables, all of will initial states of the next

chapter |1 pages

variations of in voluille

state indexes is application relief stead; state responce curves. state sLnulatio,l

chapter 77|1 pages

Exploratory development for 3D CAD in hydraulics

aided geometric modelling, several facilities of hydraulic design

chapter |1 pages

fact, main problem in these designs prototypes are produced. the fluid

pipelines than holes in a difficult to decide the geometric manifold structure of a block with a great number interpenetrating holes. Unless one has tried, this concluded to easy deceptively simple outward

chapter |1 pages

could easily obtained, application-specific functions with

Manifold Block Design impossible to solve particular problems A program mathched to design and directly, because that the process to manufacture of manifold blocks, establish a model in commercial packages developei modelling of a unfamiliar to designers. great block is the initial step of design. attention paid to develop the model is can detect the

chapter |1 pages

situation of bore connections. confirm the whole layout. the

hole, obi ique angle etc. Using design insidious thin walls modification activities are well intersections. Finally, will generate for block manufacture. data of a manifold block is typical data of standardised bore inputted, are stored in

chapter |1 pages

functions are similar to s. hydraulic component design. With

Collision of pipes will be detected potential capabilities, modelling plays all kinds of views are excellent role in solving this kind of av al iable from the model ( Fig. . its application field will necessary, the distance between more wide in hydraulics in the futhure. objects could be calculated automatically. But model is not very popular important reason is the difficult manipulate and long response time. In specialised development, the suitable

chapter |2 pages

If the hole is only a column. the is

< < ht' --2hc/--

chapter |1 pages

dis_tJ

chapter |2 pages

calculating method has been applied

chapter 79|6 pages

Some considerations on the position control

pneumatic cylinders

chapter 80|1 pages

Dynamic characteristics of pneumatic cylinder with

variable orifices Institute of Technology,

chapter |1 pages

in these years [1]. For examp-

It can be proved that simulation is the fer the characteristic analysis can be its stroke, trol system. report shows the results test of the cylinder used as a pro-

chapter |2 pages

gradients of the curves

is as total stroke time becomes too

chapter |2 pages

position of the first point.

is related to its finally softly. Its stroke time has been

chapter |2 pages

tal condition, close agreements are ob- control

orifices. In addition the effect orifices are properly

chapter 81|1 pages

Modeling pneumatic position servo realized with commercial components

Institute of Hydraulics is to increasing supply of

chapter |1 pages

Friction Forces theoretical force of cylinder,

is friction is coeff. of vise. friction is coefficient is velocity It is to that is is adiabatic,

chapter |2 pages

in every control edge there might

chapter |1 pages

results got with follo-

is interrupt based is depicted in Fig- -4.8

chapter |2 pages

of it is that a or changed by us-

chapter 83|1 pages

Study on the condensation of water in a pneumatic

system after a rapid discharge of air)

chapter |1 pages

it is required to clarify the mechanism

air in the

chapter |2 pages

difference, g the

initial conditions are in the cylinder which were calculated air of 20°C, blew out at time

chapter |2 pages

rise increases.

20.0 differ- air particle. conden-

chapter |4 pages

Pressure variation

chapter 85|1 pages

Temperature change of air in pneumatic system

Institute of Technology

chapter |1 pages

restriction

it air

chapter |1 pages

air is set up of

restriction set. Fig. 4 shows restriction, heat transfer arises. consider this phenomena

chapter |3 pages

Fig. 5 shows calculation grid in settles slowly than the charge case.

result of charge response. result of result of discharge distribution along the tube. Figure air in figure restriction is In of restriction or in the tube. Figure restriction sometimes stuffed with in the tube. ice. Experimental results and results show same tendency. effect on velocity

chapter 88|1 pages

A study on acceleration waveform control of an

electrohydraulic servo system using linear-model-following control Institute of Technology

chapter |1 pages

also been reported [4]. However, in this

ref.[4]. system transforms the signal

chapter |1 pages

signal is rearranged as follows.

is composed of ircuit c is given by the following equa-

chapter |1 pages

let the feedback gain Kt increase

chapter |2 pages

that of the reference model. tus, the frequency response with control

this figure, stability of the system. illustrate the effective- is the reason the stiffness of

chapter |3 pages

.---r-r-r-r-r-,.--,

[o. o _\Ill\ [Bj--c

chapter 8|1 pages

References

chapter |1 pages

Energy supply 16r;l

chapter |3 pages

of both transmissions have exter-

chapter |1 pages

T\BLE 3 of eq. (6.5)

chapter 92|2 pages

Approximation for pipeline dynamics of hydraulic

circuits in numerical simulation

chapter |4 pages

andY are the series impedance and the

psI a+ I a

chapter 93|3 pages

A new measurement of the fuel injection rate of

diesel engine fuel pump based on transmission line dynamics

chapter |1 pages

Preparatory Experiments

chapter L|2 pages

= L=

I V·'-+'''1"-11----------l

chapter 95|1 pages

Discrete-vortex simulation of two-dimensional and

axisymmetric flow in a disk valve Institute of

chapter |1 pages

r il!v,

axial effects of the valve disk radius the representing the layers, the circulation of wall orifice are investigated. difference between the two- irrotational dis- into the valve; an under-bar

chapter |2 pages

is radius ring

irrotational flow discharged radial

chapter |1 pages

disk radius as shown in Figure

circulation of the vortex ring jet exit velocity rings -----1

chapter |1 pages

free stream line theory

than the results of especially in small layer reattach the valve inlet plane is analyzed results that jet angle the discharge

chapter 96|1 pages

Numerical analysis of transient flow through a pipe

orifice: time constant for the setting flow

chapter |5 pages

lou u 8

chapter 97|6 pages

Experimental identification and modelling of flow

and torque losses in gerotor hydraulic motors

chapter |1 pages

to the disturbance suppression

is stable, this model an approach to design the

chapter |2 pages

Piston

air spring is effective

chapter |1 pages

of and Ki in the PI control

filter, Vibration Characteristics of Plant is applied to control voltage of is effective to increase the after the disturbance

chapter |1 pages

this control system, both positioning satisfactory control system.

realize the reasonable control system, sensitivity function as performance this offer the

chapter 99|1 pages

Grasping a sheet of paper by using pneumatic

actuated finger of Precision Engineering of Science and Technology, Meiji University Higashimita 1-1-1, Tama-ku, Kawasaki-shi 214, Japan widely in the factory machines. Upon the study of objects that are hard to get et al. the of the stacked clothes employing the the fingers driven

chapter |1 pages

the closed finger, the fingers move converters supply the controlled air to this

to carry the paper. In report, the adequate pushing force and respectively and the the closing velocity to execute the electric input to pneumatic pressure signal. The second stage rate in order to in Fig.2. fingers directly. fingers are aery! resin. have made two type fingers, is the frictional finger cylinder "B" is directed to grasp and the positional signal to holding up the is in Fig. is put the frictional fingers

chapter |2 pages

used. Upon this test, the closing

the paper surface. The results about velocity of finger is set at to that probability of success increases to the force increase. results of grasping test the stacked papers on the table are

chapter |2 pages

Results of the grasping

chapter 100|1 pages

Developments of human support instrument in

nursing care

chapter |5 pages

that is nurse's personnel as well as the comfort and

intervertebral patients produces loading lifting in nursing care is that 'living burden' is nursing staff is probably often subject to

chapter 101|1 pages

On the development of a new pneumatic versatile

gripper ifice rate t utilize rate

chapter |2 pages

to develop

is trade capabilities versatile artificial

chapter |1 pages

Is l

chapter |2 pages

(a) Al.rectangular section

chapter 102|6 pages

Attitude control of a two wheeled vehicle model with

pneumatic servo type active suspension

chapter 103|1 pages

A study on pressure control of a chamber by using

an electro-pneumatic pressure proportional valve Engineering Faculty of Engineering University

chapter |1 pages

of feedback control system and

Pressure control provide several control of a the valve. at constant value using electro-pneumatic pressure Pressure Control System proportional valve which has high disturbance, or the hamber hich is pen, o is closed disturbance,both pressure ,,,._

chapter |1 pages

conductor pressure transducer occurring the disturbance detecting pressure

case of bleeds from a lmm.-dia.hole, read by microprocessor through pressure converter of bits. order to make pressure at the setting value Pset, provide supply voltage V' to the valve.

chapter |1 pages

Figure 4. If the relation between it is rising gradually.

pressure is suddenly decreasing, supply voltage to the valve and pressure of chamber is is understand that there is can't control the pressure of non-linear response of the valve. at the setting pressure if rise decrease in don't control learning pressure at several steps. Experimental results are contro Figure 6. control) exit of chamber If compressed air of the chamber bleeds through a millimeter-

chapter |1 pages

Figure

occurring overshoot undershoot and dead time

chapter |1 pages

proportional valve.

.. . . . .. .. ......... ......... ..... .. . ::::: :::::t::: :::::: t:: ::::::: ::::::::::t: ::::::::t:::::' ::: pressure valve,1991,Vol.29,No.5, ppl0-19. Takagi,Sumi,Positioning control air-cylinder learning order to control the pressure strategies, bulletin of the the hamber t tant Vol.50, No.49,pp 2823-2828.

chapter 104|2 pages

Static characteristics of a pneumatic pressure

control proportional valve with nozzle-flapper mechanism

chapter |4 pages

z can be given by

chapter 106|6 pages

An effective tuning method of fuzzy controllers in

pneumatic servosystem

chapter |3 pages

control. The engagement start point

chapter 108|3 pages

Intelligent control of air servodrives using neural

networks

chapter |2 pages

of Utility. The neural net

chapter |1 pages

REFERENCES

chapter 109|6 pages

Digital positioning using a set of pneumatic

cylinders in case with external load

chapter 110|1 pages

Opto-pneumatic control robot arm

Keijiro a) Institute of Technology,1033 Shimoogino, Atsugi-shi,243-02,Japan University,1-1-1 Higashimita,Tama-ku, Kawasaki-shi,214,Japan industrial applications of mechanical moving and electrical robots, optical control offers control parts are indispensable elements. noise immunity, first response, realizing such photofluidic devices. Since control devices, appropriate optical power sources, fiber bination technique of the ther- transmission lines, and optical conversion of optical connector technology are well energy to fluid energy high

chapter |1 pages

and a photo-acoustic cell

as the control 1], the other is the temperature control of the power bound- focused onto the base plate of [2]. This paper describes the evalua- tion of novel photofluidic in- which luminates the light absorbing side wall of the supply nozzle of the and the feasibility of the photo-pneumatic control robot which consists of the

chapter |1 pages

the volume of 1000 cubic mil- Error signal is presented

limeters. Equation 3. booster amplifier consisted of a pilot nozzle-flapper type valve followed nozzle- + t r t flapper type valve as shown in lengths and this method. weights of the members were 260mm 600g, and 150mm and 230g, respectively as in Figure pneumatic rotary actuators

chapter |1 pages

step responses of the robot are shown in Figures 6Ca)-

with a Differential blocked output pres- angle. sure of the photofluidic control is due to the ference in preamplifiers as summarized in times. Figures 6Cc), (d) Figure 4. shown in Figure 4, photofluidic control device response characterized opto-fluidic gain 2.22Pa per he 6f supply pressures,Ps1 at the supply pressures, opto-fluidic control device almost independent in the supply pressure optical power. three-stage proportional gain operated at the supply amplifying chracteristics of booster amplifier is in Figure 5. The supply pressure Psb chosen as the operating

chapter |2 pages

show the responses of the model reference adaptive control with different gains. in

Figures 6(c) and <e>, too small large gains cause vibration. robot arm described above successfully demonstrated that amplifiers and nozzle-flapper booster amplifiers to build actuator system. optother- technique have the dvantage a simplicity performance. photofluidic interface preamplifier in the laminar flow regime so that the signal was large enough for turbulent power

chapter |5 pages

[ I -----,

chapter |3 pages

Runge-Kutta method with variable

chapter |1 pages

F(6)=Xrb =0

_________ ..__._.., p._.

chapter 1|1 pages

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